Chain Class Reference

#include <Chain.h>

Public Types
Local Types
typedef std::deque< const Connection * >	JointList
typedef JointList::const_iterator	iterator

Public Member Functions
Modifiers
All modifiers return a self-reference for easy function chaining (bad pun intended).
Chain &	Reverse () noexcept
	Reverse the traversal order of this chain. More...
Chain &	Append (const Chain &_other) noexcept
Iteration
Iterate over the bodies in the chain in traversal order.
iterator	begin () const noexcept
iterator	end () const noexcept
Queries
const Body *	GetFrontBody () const noexcept
const Body *	GetBackBody () const noexcept
const Connection *	GetFirstJoint () const noexcept
	Get the first joint. More...
const Connection *	GetLastJoint () const noexcept
	Get the last joint. More...
bool	IsForward () const noexcept
	Is this chain oriented in the same way as the multibody? More...
size_t	GetNumJoints () const noexcept
	Get the number of joints in the chain. More...
size_t	Size () const noexcept
	Get the number of objects in the chain (joints and bodies). More...
bool	IsSingleLink () const noexcept
	Check if the current chain has only one link. More...

Generation
Methods for generating chains of a multibody.
static std::vector< Chain >	Decompose (const MultiBody *const _mb)
std::pair< Chain, Chain >	Bisect () const noexcept

Detailed Description

A chain represents some subset of a linked multibody. It defines a set of joints, traversal ordering (relative to the multibody base), and possibly a front and/or back body. It must contain at least one link between the front/back bodies and joints.

For multibodies with branchings and/or closures, Decompose will return a Chain for each linear segment. Splitting joints (where the multibody has been broken into chains) are repeated so that it is clear where chains connect (also true for bisect).

This object assumes that the represented multibody will not change structure. If it does, any chains built from the previous version will likely be invalid.

Member Typedef Documentation

iterator

typedef JointList::const_iterator Chain::iterator

JointList

typedef std::deque<const Connection*> Chain::JointList

Member Function Documentation

Append()

Chain & Chain::Append ( const Chain &  _other )

noexcept

Merge another chain into this one. The two chains must have the same traversal order, and the other chain's root must be connected to this chain's end.

Parameters

_other

The chain to append to this one.

begin()

Chain::iterator Chain::begin ( ) const

noexcept

Bisect()

std::pair< Chain, Chain > Chain::Bisect ( ) const

noexcept

Bisect this chain to produce two subchains which both contain the splitting joint. Their order will be the same as this. If this chain has an odd number of joints, the first subchain will take the extra one.

Decompose()

std::vector< Chain > Chain::Decompose ( const MultiBody *const  _mb )

static

Decompose a multibody into a set of linear chains. Splitting joints will be present in each chain that contains them.

Parameters

_mb	The multibody to decompose.

Returns

A set of Chains representing linear subsets of _mb.

Todo:

Expand to support joints with more than one forward or backward connection. For now we only support chain robots.

end()

Chain::iterator Chain::end ( ) const

noexcept

GetBackBody()

const Body * Chain::GetBackBody ( ) const

noexcept

Get the body at the back of the chain (w.r.t. traversal order). Will be null if this chain ends with a joint.

GetFirstJoint()

const Connection * Chain::GetFirstJoint ( ) const

noexcept

Get the first joint.

GetFrontBody()

const Body * Chain::GetFrontBody ( ) const

noexcept

Get the body at the front of the chain (w.r.t. traversal order). Will be null if this chain begins with a joint.

GetLastJoint()

const Connection * Chain::GetLastJoint ( ) const

noexcept

Get the last joint.

GetNumJoints()

size_t Chain::GetNumJoints ( ) const

noexcept

Get the number of joints in the chain.

IsForward()

bool Chain::IsForward ( ) const

noexcept

Is this chain oriented in the same way as the multibody?

IsSingleLink()

bool Chain::IsSingleLink ( ) const

noexcept

Check if the current chain has only one link.

Reverse()

Chain & Chain::Reverse ( )

noexcept

Reverse the traversal order of this chain.

Size()

size_t Chain::Size ( ) const

noexcept

Get the number of objects in the chain (joints and bodies).

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The documentation for this class was generated from the following files:

• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Bodies/Chain.h
• /opt/actions-runner/_work/open-ppl/open-ppl/src/Geometry/Bodies/Chain.cpp